KR20150070917A - The rear side of the vehicle lane detection and danger signal generator speed - Google Patents

The rear side of the vehicle lane detection and danger signal generator speed Download PDF

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Publication number
KR20150070917A
KR20150070917A KR1020130157684A KR20130157684A KR20150070917A KR 20150070917 A KR20150070917 A KR 20150070917A KR 1020130157684 A KR1020130157684 A KR 1020130157684A KR 20130157684 A KR20130157684 A KR 20130157684A KR 20150070917 A KR20150070917 A KR 20150070917A
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South Korea
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vehicle
speed
lane
information
screen
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KR1020130157684A
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Korean (ko)
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이주영
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이주영
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a device for sensing a rearward vehicle in the neighboring lane and generating danger signals which comprises; a sensing part which detects whether a vehicle exists in the neighboring lane at a lane changing; a speed sensing part which detects the speed of a rearward vehicle in the lane to be selected at the lane changing; a distance calculating part which calculates the distance from the self-vehicle through the detected data and the speed data; a determining part which determines whether a risk of collision exists at a lane changing based on the calculated data; and a display part which displays the calculated data on the screen. An embodiment of the present invention detects the speed of surrounding vehicles using a speed sensor at a lane changing and determines the existence of a risk after calculating the distance from surrounding vehicles, thereby providing a device which shows data in real time on the screen in a dashboard of a vehicle.

Description

옆차선 후방차량의 속도 감지 및 위험신호 발생기 {The rear side of the vehicle lane detection and danger signal generator speed}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a vehicle speed detection system,

본 발명은 운전자나 동승자가 차량 변경시에 주위의 차량의 유무 및 근접성을 살필 수 있으며, 주위 차량에 관한 정보를 스크린에 디스플레이함으로써, 운전자 및 동승자의 편의를 도모할 수 있는 기법에 관한 것이다.The present invention relates to a technique by which a driver or a passenger can look at the presence or proximity of a nearby vehicle at the time of changing a vehicle and displays information on the surrounding vehicle on the screen to thereby facilitate the convenience of the driver and the passenger.

2011년 6월 10일부로 시행된 운전면허 간소화 제도에 의해. 운전면허시험 절차를 줄여 시민들에게 빠르고, 저렴하고, 쉽게 운전면허시험을 치를 수 있도록 바뀌었다. 하지만 이에 따라 비용의 절감됨에 따라 장내운전 및 도로주행 연습시간 역시 비례하게 줄어들어 예비운전자들이 미숙한 상태로 면허를 갖게 되는 경우도 발생하게 되었다. 미숙한 실력을 갖춘 채로 익숙하지 않은 도로를 달리는 것은 위험천만한 일이다. By the driver's license simplification system enforced as of June 10, 2011. It has been changed so that the driver's license test procedure can be reduced to give citizens a quick, inexpensive and easy test. However, as a result of this cost reduction, the introductory driving and the driving practice time have also been reduced proportionately, leading to the possibility that the preliminary drivers have become licensed in an immature state. It is dangerous to run on unfamiliar roads with inexperienced skills.

미숙한 운전자들은 운전시에 좌우를 살피는 것이 익숙하지 않거나, 두려움에 전방만을 주시하면 가는 경우도 있다. 또는 미숙한 운전자들의 운전연습을 도와주기 위해 조수석에 지인이 앉아 운전연습을 도와줄 수 있지만 조수석에 앉으면 좌우사이드 밀러나 룸 밀러를 통해 전후좌우의 도로상황을 잘 알 수가 없다. 이 같은 문제들을 해결하기 위해. 좌우 사이드 밀러에 차량의 옆과 후방을 보여주는 카메라와 속도 감지 센서를 설치하고 대시 보드에 헤드업 디스플레이를 설치하여 주위 차량의 유무와 차량의 속도 등의 정보를 보여줌으로써 운전자 및 동승자가 운전시 편의를 도모할 수 있는 기술을 도입하였다.Inexperienced drivers are often unfamiliar with looking at the right and left at the time of driving, or may only go to the front if they are afraid. Alternatively, an acquaintance can help you practice driving by sitting in your passenger seat to assist you in driving practice for inexperienced drivers, but when you sit in the passenger seat, you can not see the road conditions on the left, right, side, and right side mirrors. To solve these problems. The left and right side mirrors are equipped with a camera that displays the sides and rear of the vehicle, a speed sensor, and a head-up display on the dashboard to show information such as the presence of surrounding vehicles and the speed of the vehicle. And introduced technology that can be applied.

본 발명은 운전 중 차량변경시 주위 차량정보를 디스플레이함으로써, 운전자 및 동승자의 편의성 및 안전성을 확보할 수 있도록 지원하는 장치를 제공하고자 한다. An object of the present invention is to provide a device for supporting convenience and safety of a driver and a passenger by displaying surrounding vehicle information when the vehicle is changed during operation.

본 발명의 일실시 예에 따른 옆 차선 후방차량의 속도 감지 및 위험신호 발생기는 차선변경시 옆 차선의 차량 유무를 감지하는 감지부를 포함한다.The speed detection and danger signal generator of the vehicle in the side lane ahead of the vehicle according to the embodiment of the present invention includes a sensing unit for sensing the presence or absence of the vehicle in the next lane when the lane is changed.

차선 변경시 변경할 차선 후방 차량의 속도를 감지하는 속도 감지부도 포함한다. And a speed sensing unit that senses the speed of the lane ahead vehicle to be changed when the lane change is made.

그리고 감지된 정보를 속도정보를 통해 본인 차량과의 거리를 연산하는 거리 연산 부를 포함하고 있다. And a distance arithmetic unit for calculating the distance between the sensed information and the own vehicle through the speed information.

마지막으로 연산 된 정보를 바탕으로 차량 변경시 충돌의 위험 유무를 판단하는 판단부과 연산 된 정보를 스크린에 디스플레이하는 디스플레이부를 포함한다.And a display unit for displaying the calculated information on the screen based on the calculated information.

본 발명의 일실시 예로 연산 된 정보를 바탕으로 선정된 거리 및 본 차량과의 속도 비교를 통해 위험의 정도를 판단하는 판단 부에서 판단한 위험 정도를 바탕으로 선정된(predetermined) 신호 및 정보를 스크린에 표시하는 방법을 제시한다.According to an exemplary embodiment of the present invention, based on the calculated information, a predetermined signal and information are displayed on the screen based on the risk level determined by the determination unit, And how to display it.

본 발명의 일실시 예로 차선 변경시 속도감지기로 주위차량의 속도를 감지하고 주위 차량의 거리를 연산한 후, 위험 여부를 판단하여 그 정보들을 대시 보드에 있는 스크린에 실시간으로 정보를 보여주는 장치를 제공함으로써, 운전의 안전성과 편의성을 제공한다.In an embodiment of the present invention, the speed sensor detects the speed of the surrounding vehicle when the lane change is made, calculates the distance of the surrounding vehicle, determines the danger, and displays the information on the screen on the dashboard in real time Thereby providing safety and convenience of operation.

도 1은 본 발명의 일실시 예에 따른 주위 차량을 감지하는 감지기의 사용 위치 및 방향을 도시한 도면이다.
도 2는 본 발명의 일실시 예에 따른 차량 내부에서 상기 감지부로 감지된 정보 및 요구 정보들을 표시하는 디스플레이의 위치의 예를 도시한 도면이다.
도 3은 본 발명의 일실시예에 따른 차량 감지 및 메시지 발생 등을 도시한 도면이다.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a use position and a direction of a sensor for detecting a surrounding vehicle according to an embodiment of the present invention; FIG.
2 is a view showing an example of a position of a display for displaying information and request information sensed by the sensing unit in a vehicle according to an embodiment of the present invention.
3 is a diagram illustrating vehicle detection and message generation according to an exemplary embodiment of the present invention.

이하에서, 첨부된 도면을 참조하여 본 발명에 따른 실시 예들을 상세히 설명한다. 그러나, 본 발명이 실시 예들에 의해 제한되거나 한정되는 것은 아니다.Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited or limited by the embodiments.

또한, 각 도면에 제시된 동일한 참조부호는 동일한 부재를 나타낸다.In addition, the same reference numerals shown in the drawings denote the same members.

도 1은 본 발명의 일실시 예에 따른 주행시 본 차량에서 주위 차량을 감지부의 역할을 도시한 도면이다. 본 차량(101)은 주행시에 주위차량(102)들의 옆 차선에서 달리게 된다. FIG. 1 is a view showing the role of a sensing unit for a surrounding vehicle in the present vehicle during traveling according to an embodiment of the present invention. The vehicle 101 runs in a side lane of the surrounding vehicles 102 at the time of driving.

따라서 감지부인 감지장치(103)는 본 차량의 옆에서 달리는 옆 차량의 유무를 감지한다. 또한 동시에 속도 감지를 하는 상기 속도감지부(104) 장치는 옆 차선의 후방에 차량 유무와 차량의 속도를 측정한다. Accordingly, the sensing device 103 senses the presence or absence of a side vehicle running on the side of the vehicle. The speed sensing unit 104, which simultaneously detects the speed, measures the presence of the vehicle and the speed of the vehicle behind the side lane.

도 2는 본 발명의 일실시 예에 따른 차량 내부에서 설치된 디스플레이의 위치 및 각 기기들의 역할들을 도시한 도면이다. 상기 감지장치(201)에서 측정된 속도 및 차량 유무 등의 정보들은 모두 정보의 연산 및 판단하는 장치(202)에 전송되며 선정된 정보 등을 기초로 상기 본 차량과의 속도비교 및 위험 정도를 파악한다. FIG. 2 is a view showing positions of displays installed in a vehicle and roles of respective devices according to an embodiment of the present invention. The information such as the speed measured by the sensing device 201 and the presence or absence of the vehicle is transmitted to the device 202 for calculating and determining information, and based on the selected information, etc., do.

상기 연산 된 정보들은 상기 디스플레이 부(203)에 전송되어 스크린(203)에 선정된 신호 및 메시지를 표시 및 발생한다.The calculated information is transmitted to the display unit 203 to display and generate a predetermined signal and a message on the screen 203.

도 3은 본 발명의 일실시 예에 따른 주행중 차선 변경시 주위차량 속도 감지및 위험도 판단 방법을 도시한 순서도 이다. 3 is a flowchart illustrating a method of detecting a surrounding vehicle speed and a risk of a surrounding lane change according to an embodiment of the present invention.

단계(S310)에서는 주행중 차선변경을 시작하는 단계이다.In step S310, the lane change during the running is started.

단계(S320)에서는 차선 변경시 옆 차선의 차량 유무와 후방차량의 속도를 감지한다.In step S320, the presence or absence of the vehicle in the next lane and the speed of the rear vehicle are detected at the time of lane change.

단계(S330)에서는 계측된 차량 정보를 토대로 본 차량과의 간격을 비교한다.In step S330, the distance to the vehicle is compared based on the measured vehicle information.

단계(S340)에서는 변경할 차선에 있는 후방차량의 속도를 본 차량의 속도와 비교 연산하여 가능 여부를 판단한다.In step S340, the speed of the rear vehicle in the lane to be changed is compared with the speed of the present vehicle to determine whether or not it is possible.

단계(S360)에서는 판단 부에서 본 차량의 속도가 옆 차선의 후방차량보다 속도가 느리다고 판단되면 디스플레이에 선정된 신호 및 경고메시지를 발생한다.If it is determined in step S360 that the speed of the vehicle is slower than the speed of the vehicle in the next lane, it generates a signal and a warning message on the display.

단계(S350)에서는 판단 부에서 본 차량의 속도가 옆 차선의 후방차량보다 빠르다고 판단되면 디스플레이 부에 선정된 신호 및 안전 메시지를 발생한다.
In step S350, if it is determined that the speed of the vehicle viewed by the determination unit is faster than that of the vehicle following the next lane, a signal and a safety message are generated on the display unit.

본 발명에 따른 실시 예들은 다양한 컴퓨터 수단을 통하여 수행될 수 있는 프로그램 명령형태로 구현되어 컴퓨터 판독가능 매체에 기록될 수 있다. Embodiments according to the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium.

상기 컴퓨터 판독 가능매체는 프로그램 명령, 데이터 파일,데이터 구조 등을 단독으로 또는 조합하여 포함할 수 있다.상기매체에 기록되는 프로그램 명령은 본 발명을 위하여 특별히 설계되고 구성된 것들이거나 컴퓨터 소프트웨어 당업자에게 공지되어 사용가능한 것 일수도 있다. The computer readable medium may include program instructions, data files, data structures, etc., alone or in combination. Program instructions to be recorded on the medium may be those specially designed and constructed for the present invention, It may be usable.

컴퓨터 판독가능 기록매체의 예에는 하드디스크,플로피디스크 및 자기테이프와 같은 자기매체(magneticmedia), CD-ROM, DVD와 같은 광기록매체(opticalmedia),플롭티컬디스크(flopticaldisk)와 같은 자기-광매체(magneto-opticalmedia), 및 롬(ROM), 램(RAM),플래시 메모리 등과 같은 프로그램 명령을 저장하고 수행하도록 특별히 구성된 하드웨어장치가 포함된다.Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape, optical storage media such as CD-ROMs, DVDs, magneto-optical media such as floppy disks, magneto-optical media, and hardware devices that are specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like.

프로그램 명령의 예에는 컴파일러에 의해 만들어지는 것과 같은 기계어 코드뿐만 아니라 인터프리터 등을 사용해서 컴퓨터에 의해서 실행될 수 있는 고급언어코드를 포함한다.Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

상기된 하드웨어장치는 본 발명의 동작을 수행하기 위해 하나 이상의 소프트웨어 모듈로서 작동하도록 구성될 수 있으며,그 역도 마찬가지이다.The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

이상과 같이 본 발명에서는 구체적인 구성요소 등과 같은 특정사항들과 한정된 실시 예 및 도면에 의해 설명되었으나 이는 본 발명의 보다 전반적인 이해를 돕기 위해서 제공된 것일 뿐, 본 발명은 상기의 실시 예에 한정되는 것은 아니며,본 발명이 속하는 분야에서 통상적인 지식을 가진자라면 이러한 기재로부터 다양한 수정 및 변형이 가능하다.As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

따라서, 본 발명의 사상은 설명된 실시 예에 국한되어 정해져서는 아니 되며, 후술하는 특허청구범위뿐 아니라 이 특허 청구범위와 균등하거나 등가 적 변형이 있는 모든 것들은 본 발명 사상의 범주에 속한다고 할 것이다.Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

101: 본 차량 102: 주위차량
103: 옆 차선 차량 감지장치 104: 옆 차선의 후방차량 속도감지장치
201: 감지장치 202: 연산 및 판단 장치
203: 디스플레이장치(스크린)101: main vehicle 102: surrounding vehicle
103: Side lane vehicle sensing device 104: Side lane rear vehicle speed sensing device
201: sensing device 202: computing and determining device
203: Display device (screen)

Claims (7)

차선변경시 옆 차선의 차량 유무를 감지하는 감지부;
차선 변경시 변경할 차선 후방 차량의 속도를 감지하는 속도 감지부;
상기 감지된 정보를 속도정보를 통해 본인 차량과의 거리를 연산하는
거리 연산부;
상기 연산된 정보를 바탕으로 차량 변경시 충돌의위험 유무를 판단하는
판단부; 및 상기 연산된 정보를 스크린에 디스플레이하는 디스플레이부;를 포함하는 속도감지 및 위험 알림 장치.A sensing unit for sensing the presence or absence of a vehicle in a next lane when a lane change occurs;
A speed sensing unit for sensing a speed of a lane ahead rearward vehicle to be changed at the time of lane change;
And calculates the distance between the sensed information and the own vehicle through the speed information
A distance calculator;
Based on the calculated information, it is determined whether there is a risk of a collision when the vehicle is changed
A determination unit; And a display unit for displaying the calculated information on a screen. 제 1항에 있어서,
상기 감지부는 상기 차량의 차선 변경시 옆 차선의 차량 유무를 감지하는 장치.
The method according to claim 1,
Wherein the sensing unit senses the presence or absence of a vehicle in a next lane when the lane of the vehicle is changed.
제1항에 있어서,
상기 속도 감지부는
차량의 차선 변경시 옆 차선의 후방차량의 속도를 감지하는 속도 감지 장치.
The method according to claim 1,
The speed sensing unit
A speed sensing device that senses the speed of the rear vehicle in the next lane when the lane of the vehicle changes.
제 1항에 있어서,
상기 연산부는
상기 속도감지부를 기초로 본 차량과 후방차량과의 거리를 연산하는 장치;
상기 연산된 정보를 기초로 선정된(predetermined) 거리 와 비교하여 차량간의 간격을 디스플레이 부에 송신하는 장치.
The method according to claim 1,
The operation unit
An apparatus for calculating a distance between the present vehicle and a rearward vehicle based on the speed sensing unit;
And compares the calculated distance with a predetermined distance based on the calculated information, and transmits the interval between the vehicles to the display unit.
제 1항에 있어서,
상기 판단부는
상기 속도감지부에서 연산된 정보와 선정된(predetermined) 거리와의 간격을 기초로 하여 위험정도를 판단하는 장치.
상기 판단된 위험정보를 디스플레이부에 송신하는 장치.
The method according to claim 1,
The determination unit
And a determination unit configured to determine a degree of danger based on an interval between the information calculated by the speed sensing unit and a predetermined distance.
And transmits the determined risk information to the display unit.
제 5항에 있어서,
상기 디스플레이부는,
상기 속도감지부에서 감지한 정보를 기초로 스크린에 띄어주는 장치.
상기 판단부에서 판단한 위험정도를 스크린에 띄어주는 장치.
6. The method of claim 5,
The display unit includes:
And a device for displaying on the screen based on the information sensed by the speed sensing unit.
And a display unit for displaying the degree of danger determined by the determination unit on the screen.
제6항에 있어서,
상기 디스플레이부는 상기 판단부에서 판단한 위험정도를 바탕으로 선정
된(predetermined) 신호 및 정보를 스크린에 표시.
상기 판단부에서 옆 차선 후방차량의 속도가 본차량의 속도보다 빠른 경우 선정된 신호를 스크린에 표시 및 음성 경고 메세지 작동.
상기 판단부에서 옆 차선 후방차량의 속도가 본차량의 속도보다 느린 경우 선정된 신호를 스크린에 표시 및 음성 안전 메세지 작동.

The method according to claim 6,
The display unit may be configured to select
Display the signals and information on the screen.
If the speed of the vehicle in the next lane ahead of the vehicle is higher than the speed of the vehicle in the determination unit, the selected signal is displayed on the screen and a voice warning message is operated.
If the determination unit determines that the speed of the vehicle behind the next lane is slower than the speed of the vehicle, a predetermined signal is displayed on the screen and a voice safety message is activated.

KR1020130157684A 2013-12-17 2013-12-17 The rear side of the vehicle lane detection and danger signal generator speed KR20150070917A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
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CN107031636A (en) * 2015-10-13 2017-08-11 沃尔沃汽车公司 Method and system for Interval selecting
CN107886729A (en) * 2016-09-30 2018-04-06 比亚迪股份有限公司 Vehicle identification method, device and vehicle
CN108705972A (en) * 2018-04-03 2018-10-26 吉利汽车研究院（宁波）有限公司 A kind of vehicle lateral control information display system
KR20190055898A (en) * 2017-11-16 2019-05-24 르노삼성자동차 주식회사 The lane change assistant system
CN111114539A (en) * 2018-10-29 2020-05-08 长城汽车股份有限公司 Vehicle and safe driving method and device of vehicle

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107031636A (en) * 2015-10-13 2017-08-11 沃尔沃汽车公司 Method and system for Interval selecting
CN107031636B (en) * 2015-10-13 2021-04-30 沃尔沃汽车公司 Method and system for gap selection
CN107886729A (en) * 2016-09-30 2018-04-06 比亚迪股份有限公司 Vehicle identification method, device and vehicle
CN107886729B (en) * 2016-09-30 2021-02-23 比亚迪股份有限公司 Vehicle identification method and device and vehicle
KR20190055898A (en) * 2017-11-16 2019-05-24 르노삼성자동차 주식회사 The lane change assistant system
CN108705972A (en) * 2018-04-03 2018-10-26 吉利汽车研究院（宁波）有限公司 A kind of vehicle lateral control information display system
CN108705972B (en) * 2018-04-03 2020-07-07 吉利汽车研究院（宁波）有限公司 Vehicle transverse control information display system
CN111114539A (en) * 2018-10-29 2020-05-08 长城汽车股份有限公司 Vehicle and safe driving method and device of vehicle
CN111114539B (en) * 2018-10-29 2021-05-25 长城汽车股份有限公司 Vehicle and safe driving method and device of vehicle

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